fam.h

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/* Copyright (c) 2017, United States Government, as represented by the
 * Administrator of the National Aeronautics and Space Administration.
 * 
 * All rights reserved.
 * 
 * The Astrobee platform is licensed under the Apache License, Version 2.0
 * (the "License"); you may not use this file except in compliance with the
 * License. You may obtain a copy of the License at
 * 
 *     http://www.apache.org/licenses/LICENSE-2.0
 * 
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
 * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
 * License for the specific language governing permissions and limitations
 * under the License.
 */
 
#ifndef FAM_FAM_H_
#define FAM_FAM_H_
 
#include <ros/node_handle.h>
#include <ros/publisher.h>
#include <ros/subscriber.h>
 
#include <ff_msgs/FamCommand.h>
#include <ff_msgs/FlightMode.h>
 
#include <ff_common/ff_names.h>
#include <ff_util/perf_timer.h>
 
#include <Eigen/Dense>
#include <geometry_msgs/InertiaStamped.h>
 
#include <config_reader/config_reader.h>
#include <pmc/fam.h>
 
#include <mutex>
 
namespace fam {
 
class Fam {
 public:
  explicit Fam(ros::NodeHandle* nh);
  ~Fam();
  void Step();
 
 protected:
  void ReadParams(void);
  void CtlCallBack(const ff_msgs::FamCommand & c);
  void FlightModeCallback(const ff_msgs::FlightMode::ConstPtr& mode);
  void InertiaCallback(const geometry_msgs::InertiaStamped::ConstPtr& inertia);
 
  pmc::Fam fam_;
 
  ros::Subscriber ctl_sub_;
  ros::Subscriber flight_mode_sub_, inertia_sub_;
  ros::Publisher pmc_pub_;
 
  // config_reader::ConfigReader config_;
  ff_util::PerfTimer pt_fam_;
  // ros::Timer config_timer_;
 
  std::mutex mutex_speed_;
  std::mutex mutex_mass_;
  Eigen::Vector3f center_of_mass_;
  bool inertia_received_;
 
  pmc::FamInput input_;
};
}  // end namespace fam
 
#endif  // FAM_FAM_H_